Reference : UMR5506-ABDKHE-010
Workplace : MONTPELLIER
Date of publication : Monday, July 25, 2022
Type of Contract : FTC Scientist
Contract Period : 12 months
Expected date of employment : 1 October 2022
Proportion of work : Full time
Remuneration : 2 739.24 € - 3 869.89 € depending on experience
Desired level of education : PhD
Experience required : 1 to 4 years
- Research and development in the framework of the EC H2020 I-AM project https://i-am-project.eu/
- Follow-up of engineering or master trainees and a PhD students.
The main objective of this postdoc is to plan and control robots to perform impact tasks, i.e. tasks that require making contact with non-zero relative velocities. Examples of these tasks are dynamic bipedal robotic walking, hammering, catching objects in flight and throwing objects at a specific location. To accomplish this, the following will be considered:
- confrontation of academic impact models with robotic experimental data ;
- development of impact propagation model in a robotic structure;
- influence of an impact on pre-existing unilateral contacts and influence on the equilibrium in multi-contacts;
- Predictive models of post-impact velocities and impact pulses suitable for real-time control;
- Realization of robotic demonstrators in impact scenarios;
- Writing of scientific papers in English;
- Writing of deliverables of the CE I-AM project;
- Collaborate with the I-AM consortium partners.
- Skills in non-smooth mechanics (modeling of contacts and impacts with friction between rigid and deformable poly-articulated bodies);
- Skills in robotics (kinematic and dynamic models) ;
- Skills in task-space control by QP optimization with constraints, otherwise knowledge in numerical optimization;
- Instrumentation, impact data collection and processing;
- Programming in C++ / Python
- Proficiency in machine learning techniques is a plus.
The host laboratory is the LIRMM, the candidate will be assigned to the IDH team, his work will be directed by A. Kheddar in the framework of the EC H2020 I-AM project.
The team has a humanoid robot HRP-4, 3 Franka-Emika Panda robots and other small equipment.
Constraints and risks
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